Kinematic Analysis of a Belt Mechanism with a Circular Eccentric Output Element

2012 ◽  
Vol 162 ◽  
pp. 11-18 ◽  
Author(s):  
Dan Perju ◽  
Erwin Christian Lovasz ◽  
Karl Heinz Modler ◽  
Cristian Moldovan ◽  
Iosif Carabas
Keyword(s):  
Kinematic Analysis ◽  
Cam Mechanism ◽  
Incremental Method ◽  
Output Element ◽  
The Given ◽  
Different Order

The paper proposes two methods for kinematic analysis of a belt mechanism with circular eccentric output element (link). One of them is based on the mechanisms geometry and the second on its kinematics in order to obtain the transmission functions of different order. Both approaches are based on a imaginary cam mechanism instantaneous isokinetic with the given belt mechanism. The transmission functions obtained by means of proposed procedures are in a numerical form due to the finite incremental method used in solving the problem.

Reverse Kinematic Analysis of the Spatial Six Axis Robotic Manipulator With Consecutive Joint Axes Parallel

2007 ◽  
Author(s):  
Javier Rolda´n Mckinley ◽  
Carl Crane ◽  
David B. Dooner
Keyword(s):  
Kinematic Analysis ◽  
Closed Loop ◽  
Degree Of Freedom ◽  
Repetitive Motion ◽  
Spatial Mechanism ◽  
Joint Axis ◽  
Specific Geometry ◽  
Noncircular Gears ◽  
Six Degree Of Freedom ◽  
The Given

This paper introduces a reconfigurable one degree-of-freedom spatial mechanism that can be applied to repetitive motion tasks. The concept is to incorporate five pairs of noncircular gears into a six degree-of-freedom closed-loop spatial chain. The gear pairs are designed based on the given mechanism parameters and the user defined motion specification of a coupler link of the mechanism. It is shown in the paper that planar gear pairs can be used if the spatial closed-loop chain is comprised of six pairs of parallel joint axes, i.e. the first joint axis is parallel to the second, the third is parallel to the fourth, …, and the eleventh is parallel to the twelfth. This paper presents the detailed reverse kinematic analysis of this specific geometry. A numerical example is presented.

Analysis of Single Actuator for Rehabilitation Device of Leg Weakness

2013 ◽  
Vol 465-466 ◽  
pp. 1021-1025 ◽  
Author(s):  
Khairul Fadzli Samat ◽  
Mohamed Hussein ◽  
M.R. Safizadeh
Keyword(s):  
Knee Joint ◽  
Direct Current ◽  
Kinematic Analysis ◽  
Dc Motor ◽  
Knee Joints ◽  
Cam Mechanism ◽  
Stage Of Development ◽  
Initial Stage ◽  
Walking Motion ◽  
Leg Weakness

In this paper, the development of rehabilitation device for patients who encounter walking weakness due to post-stroke effect is presented. The kinematic analysis was carried out in the initial stage of development in order to have an efficient mechanism. As guide to design the device, the walking motion of healthy physical subject for speed of 1 km/h was used and subsequently a mechanism was designed to create similar walking motion. The device functions to inculcate the movement of thigh and calf through appropriate rotation of hip and knee. A single actuator of direct current (DC) motor is used to actuate the rotation of the hip and the knee joints mechanism. The kinematic analysis of constructed device has been performed and the results conformed the functionality of the suggested mechanism. The fabricated prototype proves the combination of DC motor and cam mechanism can actuated the movement of hip and knee joint simultaneously and subsequently reduced the power consumption.

Geometry Modeling for Indexing Cams Based on Screw Theory and Product of Exponential Formula

2006 ◽  
Vol 505-507 ◽  
pp. 991-996
Author(s):  
Zong Yu Chang ◽  
Yu Hu Yang ◽  
Ce Zhang ◽  
Shou Bin Ding ◽  
Bin Zhang ◽  
...  
Keyword(s):  
Kinematic Analysis ◽  
Screw Theory ◽  
Product Formula ◽  
Coordinate Systems ◽  
Model Surface ◽  
Cam Mechanism ◽  
Geometry Modeling ◽  
Exponential Formula ◽  
Indexing Mechanism ◽  
Systems Transformation

This paper proposes a method of geometry modeling for indexing cam mechanism by using screw theory and exponential product formula. Kinematic analysis based on screw theory is introduced firstly. Then, method to model surface of indexing cams is presented when screw theory and exponential product formula are applied. The paper gives examples to obtain the geometry models of roller gear cam, barrel indexing cam and parallel indexing cam. Our work suggests that this method can avoid the burdensome work on building coordinate systems, transformation matrixes and understanding on the mechanism. Moreover, this method can be used to innovate and design new types of indexing mechanism.

Kinematic Analysis and Virtual Design of the Cutter of Seedling Vegetable Harvester

2013 ◽  
Vol 380-384 ◽  
pp. 152-155
Author(s):  
Yi Guo ◽  
Zhi Qiang Li ◽  
Su Bo Tian
Keyword(s):  
Mathematical Model ◽  
Kinematic Analysis ◽  
Theoretical Basis ◽  
Virtual Design ◽  
Cam Mechanism ◽  
Experimental Purpose ◽  
Displacement Speed

[Purpose] To solve problems in design of the cutter for seedling vegetable harvesters, a cutter with a double-eccentric circle cam mechanism has been built. [Method] A mathematical model for kinematic analysis of cutters driven by a double-eccentric circle cam mechanism has been established. Under the model, Matlab has been employed to make kinematic analysis on displacement, speed and acceleration. Also, SolidWorks software has been adopted for virtual design of parts and assemblies of the cutter. [Results] The cutter has been applied to the seedling vegetable harvester for the experimental purpose and turned out to operate reliably and produce uniform height and leveling shearing fracture. [Results] This design will provide theoretical basis and practical reference for relevant researches.

scholarly journals Research of Kinematic Stepping Mechanism

2021 ◽  
Vol 58 (5) ◽  
pp. 63-72
Author(s):  
I. Grinevich ◽  
V. Nikishin ◽  
G. Springis
Keyword(s):  
Kinematic Analysis ◽  
Optimality Criterion ◽  
Vertical Plane ◽  
Classical Trajectory ◽  
Step Height ◽  
Output Link ◽  
Step Cycle ◽  
The Given

Abstract In this paper, a kinematic analysis of Theo Jansen’s stepping mechanism has been carried out and an algorithm for finding the output link trajectory from the given dimensions of the stepping mechanism elements, implemented by Mathcad program, has been developed. It is possible to output characterising parameters of all intermediate links with any number of intermediate links of a step cycle of the mechanism. The dimensions of the mechanism elements have been selected so that they provide the optimal smooth trajectory of the stepping point, minimising the mechanism oscillations in the vertical plane. A comparison of the trajectories of the foot in this study with the classical trajectory of Theo Jansen and the trajectory from article [7] has been provided. A minimum swing of the oscillation of the centre of mechanism masses in the vertical plane has been selected as an optimality criterion, combined with the maximum smoothness of the trajectory, provided that maximization of the step height is not required.

Incremental Kinematic Analysis of Mechanisms

1995 ◽  
Vol 117 (4) ◽  
pp. 589-596 ◽  
Author(s):  
R. Konkar ◽  
M. Cutkosky
Keyword(s):  
Quantitative Study ◽  
Kinematic Analysis ◽  
Computational Techniques ◽  
Fast Analysis ◽  
Recursive Procedure ◽  
Design Problems ◽  
Incremental Method ◽  
Iterative Analysis ◽  
Kinematic Analyses ◽  
Kinematic Properties

Kinematic design is an important aspect of the design of mechanical systems with moving parts. The performance of such systems may suffer from the presence of parts that bind during their motion causing jams, or that execute undesired motions. Kinematic analysis needs to be conducted and the design of the system modified. Analysis-redesign-reanalysis cycles are common in reaching a satisfactory design. If the system is large and the incidence of redesign frequent, then it becomes imperative to have fast analysis methods. This work addresses this problem by providing computational techniques for doing incremental kinematic analysis. The mechanism is represented as a graph of objects with connection constraints among them. A recursive procedure traverses the graph to establish instantaneous kinematic properties. A store-and-reuse strategy is employed to increase the efficiency of re-analysis runs. This involves storing intermediate results of computations for reuse in case of incremental redesign or iterative analysis. The store-and reuse strategy is also applicable when retrieving elements of previous designs, and their associated kinematic analyses, and adapting them to new design problems. A comparative, quantitative study of the normal, “from-scratch” method and the incremental method is provided to prove the greater efficiency of the latter.

scholarly journals Kinematic analysis of crank -cam mechanism of process equipment

2018 ◽  
Vol 327 ◽  
pp. 042080
Author(s):  
Yu I Podgornyj ◽  
V Yu Skeeba ◽  
T G Martynova ◽  
N S Pechorkina ◽  
P Yu Skeeba
Keyword(s):  
Kinematic Analysis ◽  
Process Equipment ◽  
Cam Mechanism

scholarly journals Kinematic and dynamic analysis and distribution of stress for seven-item mechanism by means of the SolidWorks program

2021 ◽  
Vol 1199 (1) ◽  
pp. 012076
Author(s):  
J Vavro ◽  
J Vavro ◽  
L Marček ◽  
M Taraba ◽  
L Klimek
Keyword(s):  
Dynamic Analysis ◽  
Kinematic Analysis ◽  
Planar Mechanisms ◽  
Vector Method ◽  
Planar Mechanism ◽  
Spatial Mechanisms ◽  
Software Program ◽  
The Individual ◽  
Distribution Of Stress ◽  
The Given

Abstract This paper presents a kinematic and dynamic analysis and distribution of the stress for seven-item planar mechanism by means of the SolidWorks software. The authors of the introduced paper deal with the kinematic analysis of planar mechanisms as well as with the implementation of the vector method into the SolidWorks software program in order to determine the kinematic variables (quantities) of the individual bodies in the whole complex system. The dynamic analysis is performed on the basis of the kinematic analysis. Dynamic analysis allows us to design a system of bodies correctly and it is with the respect to the dynamic loading. For the interpretation of the introduced analysis, the seven-item planar mechanism was selected. Graphic dependence of kinematic and dynamic magnitudes of some points is given in dependence on the angle of rotation of the driving item and in dependence on time. In relation to the kinematic and dynamic analysis and subsequent simulation of the planar as well as spatial mechanisms, it is perfect solution to use SolidWorks software program. The considerable advantage of this mentioned program is based on its simplicity from the aspect of modeling and moreover, it is important to point out that utilisation of the mentioned program leads to results which are precise and accurate in the case of the numerical solution of the equations in the whole magnitude referring to motion of mechanism while the given results are obtained in the graphic form.

Analytic Formulation of Reciprocal Screws and Its Application to Nonredundant Robot Manipulators

2003 ◽  
Vol 125 (1) ◽  
pp. 158-164 ◽  
Author(s):  
Doik Kim ◽  
Wan Kyun Chung
Keyword(s):  
Algebraic Equation ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
The Given ◽  
Pseudo Inverse

One of the most important and widely used concepts in the kinematic analysis of robot manipulators is the reciprocal screw. However, there are no general expressions and easy methods to obtain the reciprocal screw in an analytic manner. This paper suggests an analytic formulation of the reciprocal screws of arbitrarily aligned screw systems. Since the reciprocal screws obtained in this paper are represented by the direction vectors and the position vectors of the given screws, we can analyze the relation between the reciprocal screw system and the given screw system easily. With the results, to find a reciprocal screw is to solve an algebraic equation of the corresponding system of screws. In order to show the usefulness of the result, several examples related to the robot manipulator are provided. For a nonredundant serial manipulator, the pseudo inverse of the Jacobian matrix is shown to be equivalent to the wrench matrix obtained by the reciprocity. For a parallel manipulator, a leg is isolated to obtain an independent part from the manipulator and is analyzed analytically. The proposed method can be applied to any arbitrarily aligned screw system.

Kinematics and Dynamics Analysis of Eccentric Circle Cam Mechanism

2013 ◽  
Vol 821-822 ◽  
pp. 1466-1469
Author(s):  
Li Jun Xie
Keyword(s):  
Angular Velocity ◽  
Numerical Results ◽  
Linear Velocity ◽  
Kinematics And Dynamics ◽  
Dynamics Analysis ◽  
Cam Mechanism ◽  
Geometric Methods ◽  
The Given ◽  
Dynamic Variables

Geometric methods and mechanical principles were employed to study the kinematic variables and dynamic variables of eccentric circle cam mechanism, and their formulae were also given. The deductions show that the linear velocity and the acceleration of the driven member and the driving moment are all functions of the rotation angleand the rotation angular velocity of the cam, the numerical results of the given example verify the conclusions.

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